In this chapter, we explored various programming techniques such as My Blocks, Switches, and Loops. We used combinations of switches and loops to cause our robot to drive in a square and avoid an obstacle. We used two-level and three-level controllers to help us navigate and make precise turns. You learned how to navigate using both dead reckoning and the Gyro Sensor. You learned how to simplify your programs using My Blocks and Arrays.

In the next chapter, we will develop a proportional controller that determines the position using either the Ultrasonic or the Infrared Sensor. We will also develop a proportional line following robot using the Color Sensor.